Maíra Martins da Silva

Universidade de São Paulo

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João Vitor de Carvalho Fontes

Universidade Federal de São Carlos

Wim Desmet

KU Leuven

Leopoldo Pisanelli Rodrigues de Oliveira

Universidade de São Paulo

Giuliana Sardi Venter

Universidade Federal do Paraná

Fernanda Thaís Colombo

Universidade de São Paulo

Herman Van der Auweraer

Siemens (Belgium)

Hiparco Lins Vieira

Universidade de São Paulo

Hendrik Van Brussel

KU Leuven

Olivier Brüls

University of Liège

João Cavalcanti Santos

Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier

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Universidade de São Paulo

Universidade Federal de São Carlos

KU Leuven

Universidade Estadual Paulista (Unesp)

Universidade Brasil

Hospital Universitário da Universidade de São Paulo

Universidade Estadual de Campinas (UNICAMP)

Centre National de la Recherche Scientifique

D2S International (Belgium)

Universidade Federal do Piauí

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Reliable and Failure-Free Workspaces for Motion Planning Algorithms for Parallel Manipulators Under Geometrical Uncertainties

Journal of Computational and Nonlinear Dynamics (2018)

Hiparco Lins Vieira João Vitor de Carvalho Fontes André T. Beck Maíra Martins da Silva

Manufacturing tolerances and other uncertainties may play an important role in the performance of parallel manipulators since they can affect the distance to a singular configuration. Motion planning strategies for parallel manipulators under uncertainty require decision making approaches for classifying reliable regions within the workspace. In this paper, we address fail free and reliable motion planning for parallel manipulators. Failure is related to parallel kinematic singularities in the motion equations or to ill-conditioning of the Jacobian matrices. Monte Carlo algorithm is employed to compute failure probabilities for a dense grid of manipulator workspace configurations. The inverse condition number of the Jacobian matrix is used to compute the distance between each configuration and a singularity. For supporting motion planning strategies, not only failure maps are constructed but also reliable and failure-free workspaces are obtained. On the one hand, the reliable workspace is obtained by minimizing the failure probabilities subject to a minimal workspace area. Differently, a failure-free workspace is found by maximizing the workspace area subject to a probability of failure equal to zero. A 3RRR manipulator is used as a case study. For this case study, the usage of the reliable strategy can be useful for robustifying motion planning algorithm without a significant reduction of the reliable regions within the workspace.

Work space

10.1115/1.4042015

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Citations (7)

Simulation-Based Optimization of an Active Noise and Vibration Control Solution

Herman Van der Auweraer Peter Mas Leopoldo Pisanelli Rodrigues de Oliveira Maíra Martins da Silva Wim Desmet

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The Influence of Kinematic Redundancies in the Energy Efficiency of Planar Parallel Manipulators

Andrés Gómez Ruiz João Vitor de Carvalho Fontes Maíra Martins da Silva

Parallel manipulators present advantages compared to serial ones, such as higher load-carrying capacity, improved accuracy and increased stiffness. However, parallel manipulators possess limitations due to the presence of singularities. It has been proved that kinematic and actuation redundancy promote a significant reduction in the singularities and homogenization on the actuation forces. This paper evaluates the effect of the addition of kinematic redundancy in the energy efficiency of parallel manipulators. In order to do so, the required mechanical energy consumed by a 3RRR non-redundant planar parallel manipulator and their kinematically redundant versions, to perform several predefined trajectories is minimized using a genetic algorithm. The result of the comparison shows that the required mechanical energy to perform a given trajectory can be reduced with the addition of kinematic redundancy.

Serial manipulator

10.1115/imece2015-50278

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Citations (20)

Robust Critical Inverse Condition Number for a 3RRR Robot Using Failure Maps

Mechanisms and machine science (2017)

Hiparco Lins Vieira João Vitor de Carvalho Fontes André T. Beck Maíra Martins da Silva

Revolute joint

Work space

Robustness

Robot end effector

10.1007/978-3-319-67567-1_27

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Citations (8)

An analysis of surface roughness in turning/boring under different chatter conditions

Giuliana Sardi Venter Maíra Martins da Silva

10.26678/abcm.cobem2017.cob17-0203

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Citations (3)

On the dynamic performance of parallel kinematic manipulators with actuation and kinematic redundancies

Mechanism and Machine Theory (2016)

João Vitor de Carvalho Fontes Maíra Martins da Silva

Work space

10.1016/j.mechmachtheory.2016.05.004

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Citations (44)

Simulation of systems parametrically dependent of the spatial configuration : a mechatronic approach

Maíra Martins da Silva Wim Desmet Hendrik Van Brussel

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Contributing to the Implementation of a Vision-Based Control Strategy for a Planar Parallel Manipulator

Fernanda Thaís Colombo João Vitor de Carvalho Fontes Maíra Martins da Silva

Manipulator (device)

10.26678/abcm.cobem2017.cob17-0822

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Citations (2)

Caracterização morfométricas de cães da raça Sertaneja no Município de São João do Piauí – PI

PubVet (2011)

T. LEITE Marcos Jacob Almeida Maíra Martins da Silva Jean Carlos Soares

O Cão Sertanejo, também conhecido como Boca-Preta, originário da região nordeste do Brasil, compõe a patrimônio histórico e cultural, sendo parte integrante da memória popular, principalmente dos vaqueiros e dos caçadores mais velhos. A função desses animais para homens que vivem no sertão nordestino é bastante diversificada, são usados como cão de caça, guarda de lavouras (proteção contra suínos), segurança da propriedade na lida com o gado na vegetação da Caatinga. O presente trabalho teve o objetivo de fornecer as primeiras informações sobre as medidas morfométricas do Cão Sertanejo. O trabalho foi realizado no município de São João do Piauí. Foram utilizados neste estudo um total de 30 cães, machos, adultos, considerando como idade adulta acima de 02 anos de vida. Analisaram-se 18 variáveis biométricas, 6 índices zoométricos. As variáveis e índices analisado do Cão Sertanejo demostraram a capacidade de maior agilidade na lida com os animais de interesse zootecnico na vegetação nativa.

10.22256/pubvet.v5n5.1019

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Citations (0)

A general optimization-based approach to the detection of real-time Ethernet traffic events

Computers in Industry (2021)

Guilherme Serpa Sestito Afonso Celso Turcato André Luís Dias Paolo Ferrari Danilo Hernane Spatti

Industrial Ethernet

10.1016/j.compind.2021.103413

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Citations (9)